Apparatus and method for detecting object for vehicle

• US 9,904,857 B2
• Filed: 10/16/2015
• Issued: 02/27/2018
• Est. Priority Date: 11/07/2014
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Lee, Sung Joo
• Primary Examiner(s): BELLA, MATTHEW C
• Assistant Examiner(s): Torres, Jose M
• Application Number:
  US14/885,587
• Publication Number:
  US 20160132734A1
• Time in Patent Office: 865 Days
• Field of Search: None
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights

Abstract

Disclosed are an apparatus and a method for detecting an object for a vehicle, the apparatus including: a camera unit configured to output a surrounding image of a vehicle; an object candidate extracting unit configured to extract an object candidate from the output surrounding image of the vehicle; a height reference filtering unit configured to output a filtered image by excluding an object having a height equal to or smaller than a threshold value from the extracted object candidate; and an object recognizing unit configured to detect a specific object from the output filtered image.

Claims

1. An apparatus for detecting an object for a vehicle, the apparatus comprising:

a camera unit configured to output a surrounding image of a vehicle; and

a circuitry configured to;

set a reference square having a minimum height and a minimum width on the surrounding image,

calculate center coordinates of a lower end of the reference square in each region of the surrounding image and a height threshold value which is variable according to the center coordinates of the lower end of the reference square, while moving the reference square on all regions of the surrounding image,

store height threshold values each corresponding to each center coordinates of the lower end of the reference square in a look-up table,

set an object square surrounding an object candidate on the surrounding image of the vehicle,

calculate center coordinates of a lower end of the object square,

output a filtered image by extracting the height threshold value corresponding to center coordinates of the lower end of the object square from the look-up table and excluding an object having a height equal to or smaller than the height threshold value corresponding to the center coordinates of the lower end of the object square from the object candidate on the surrounding image of the vehicle, and

detect a specific object from the output filtered image.

2. A method for detecting an object for a vehicle, the method comprising:

outputting a surrounding image of a vehicle;

setting a reference square having a minimum height and a minimum width on the surrounding image;

calculating center coordinates of a lower end of the reference square in each region of the surrounding image and a height threshold value which is variable according to the center coordinates of the lower end of the reference square, while moving the reference square on all regions of the surrounding image;

storing height threshold values each corresponding to each center coordinates of the lower end of the reference square in a look-up table;

setting an object square surrounding an object candidate on the surrounding image of the vehicle;

calculating center coordinates of a lower end of the object square;

outputting a filtered image by extracting the height threshold value corresponding to center coordinates of the lower end of the object square from the look-up table and excluding an object having a height equal to or smaller than the height threshold value corresponding to the center coordinates of the lower end of the object square from the object candidate on the surrounding image of the vehicle; and

detecting a specific object from the filtered image.